High-precision automatic docking method and device for connectors under vibration test conditions

Abstract

This application provides a high-precision automatic docking method and device for connectors under vibration testing conditions, belonging to the field of data processing technology within the internet industry. The method includes: acquiring a multi-source sensor dataset with a globally synchronized timestamp; fusing the multi-source sensor dataset to obtain a real-time six-degree-of-freedom dynamic pose sequence of the connector under test in the docking execution end coordinate system; predicting the target mating pose and optimal mating timing of the connector under test based on the real-time six-degree-of-freedom dynamic pose sequence and vibration acceleration data; planning a docking trajectory based on the target mating pose and optimal mating timing; controlling the docking execution mechanism to perform the mating action according to the docking trajectory, and correcting the docking trajectory based on the real-time acquired six-dimensional contact force data during the mating process to complete the mating action. This method can improve the accuracy and success rate of automatic connector docking in testing systems under complex vibration conditions.

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